A Balance Optimization Method for Human-Machine Collaborative Dismantling Line Based on Safety Guarantee Strategy
A technology of human-machine collaboration and safety assurance, applied in assembly machines, manipulators, metal processing equipment, etc., can solve the problems of incompatibility, not considering the disassembly line, etc., to achieve short disassembly time, low disassembly cost, and improve optimization efficiency. Effect
Active Publication Date: 2021-07-27
WUHAN UNIV OF TECH
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Problems solved by technology
In the existing studies related to the balance of the disassembly line, there have been many multi-objective optimizations of the disassembly line with a fixed disassembly time, but these optimization processes are not equivalent to the actual manufacturing process, and the existing research has not considered the operator's participation in the disassembly process. The effect of line balance
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[0112] An analysis of the process of disassembly of a model coupling. The example includes 37 disassembling tasks, for these disassembling tasks, classify the disassembly task in accordance with step 1), classification decision tree such as figure 2 Indicated.
[0113] figure 2 Tools Conditions 1 means that the tools used are artificial disassembly and robot disassembly. Tool Conditions 2 means that it can only be removed using a robotic tool. Precision Condition 1 indicates that the accuracy of the disassembly task is relatively low, and the accuracy condition 2 indicates that the accuracy of the disassembly task is high, and the operator needs to be removed. Weight Condition 1 means that the disassembly task involves the weight of the component, and people and robots can choose. Weight Condition 2 indicates that the weight is large, requiring robots to complete the disassembly task. Volume 1 is used to ensure that the larger components are removed by the robot.
[0114] The fol...
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The invention discloses a human-machine cooperative dismantling line balance optimization method based on a security guarantee strategy. The method includes: 1) establishing a dismantling task classification model for the dismantling task on the dismantling line according to the attribute characteristics of the dismantling task; 2) according to the dismantling task Based on the classification results of the classification model and the distance between the man and the robot dismantling operation point, a dismantling task allocation scheme based on the safety guarantee strategy is established; 3) A man-machine collaborative dismantling line is established with the goal of minimum dismantling idle time, maximum demand index and minimum dismantling cost Optimizing the model; 4) Solving the multi-objective optimization model to obtain a relatively optimal disassembly task allocation scheme and disassembly task sequence. The invention combines the dismantling task classification model to ensure the safety of operators to the greatest extent, and minimize the dismantling cost while ensuring the shortest dismantling time.
Description
Technical field [0001] The present invention relates to intelligent manufacturing techniques, and more particularly to human-machine collaborative disassembly line balancing optimization methods based on security strategies. Background technique [0002] Removing the scrap product is a more important step in re-manufacturing. Relative to hand-disassembled scrap products, using robotic disassembly has higher disassembling efficiency and stability compared to manual disassembly, but the scrapped product of different component structures lacks flexibility. Among the human machine collaborative disassembly line, each of the disassembly workstations collaborates with industrial robots to complete the disassembly task, combined with industrial robots and disassemble and handle disassembly, and the human machine collaborative removal efficiency is high and no shortcomings. [0003] Among the human-machine collaborative disassembly line, in addition to ensuring that the removal task on t...
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IPC IPC(8): B23P19/00B23P21/00B25J11/00
CPCB23P19/00B23P21/00B25J11/00
Inventor 刘佳宜刘斌徐文君姚碧涛刘志浩周祖德
Owner WUHAN UNIV OF TECH